/** @file
 *    @brief MAVLink comm protocol testsuite generated from autoquad.xml
 *    @see http://qgroundcontrol.org/mavlink/
 */
#pragma once
#ifndef AUTOQUAD_TESTSUITE_H
#define AUTOQUAD_TESTSUITE_H

#ifdef __cplusplus
extern "C" {
#endif

#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
static void mavlink_test_autoquad(uint8_t, uint8_t, mavlink_message_t *last_msg);

static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) {
    mavlink_test_common(system_id, component_id, last_msg);
    mavlink_test_autoquad(system_id, component_id, last_msg);
}
#endif

#include "../common/testsuite.h"


static void
mavlink_test_aq_telemetry_f(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) {
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_AQ_TELEMETRY_F >= 256) {
            return;
        }
#endif
    mavlink_message_t msg;
    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
    uint16_t i;
    mavlink_aq_telemetry_f_t packet_in = {
            17.0, 45.0, 73.0, 101.0, 129.0, 157.0, 185.0, 213.0, 241.0, 269.0, 297.0, 325.0, 353.0,
            381.0, 409.0, 437.0, 465.0, 493.0, 521.0, 549.0, 21395
    };
    mavlink_aq_telemetry_f_t packet1, packet2;
    memset(&packet1, 0, sizeof(packet1));
    packet1.value1 = packet_in.value1;
    packet1.value2 = packet_in.value2;
    packet1.value3 = packet_in.value3;
    packet1.value4 = packet_in.value4;
    packet1.value5 = packet_in.value5;
    packet1.value6 = packet_in.value6;
    packet1.value7 = packet_in.value7;
    packet1.value8 = packet_in.value8;
    packet1.value9 = packet_in.value9;
    packet1.value10 = packet_in.value10;
    packet1.value11 = packet_in.value11;
    packet1.value12 = packet_in.value12;
    packet1.value13 = packet_in.value13;
    packet1.value14 = packet_in.value14;
    packet1.value15 = packet_in.value15;
    packet1.value16 = packet_in.value16;
    packet1.value17 = packet_in.value17;
    packet1.value18 = packet_in.value18;
    packet1.value19 = packet_in.value19;
    packet1.value20 = packet_in.value20;
    packet1.Index = packet_in.Index;


#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
       // cope with extensions
       memset(MAVLINK_MSG_ID_AQ_TELEMETRY_F_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_AQ_TELEMETRY_F_MIN_LEN);
    }
#endif
    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_aq_telemetry_f_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_aq_telemetry_f_decode(&msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_aq_telemetry_f_pack(system_id, component_id, &msg, packet1.Index, packet1.value1,
                                    packet1.value2, packet1.value3, packet1.value4, packet1.value5,
                                    packet1.value6, packet1.value7, packet1.value8, packet1.value9,
                                    packet1.value10, packet1.value11, packet1.value12,
                                    packet1.value13, packet1.value14, packet1.value15,
                                    packet1.value16, packet1.value17, packet1.value18,
                                    packet1.value19, packet1.value20);
    mavlink_msg_aq_telemetry_f_decode(&msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_aq_telemetry_f_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg,
                                         packet1.Index, packet1.value1, packet1.value2,
                                         packet1.value3, packet1.value4, packet1.value5,
                                         packet1.value6, packet1.value7, packet1.value8,
                                         packet1.value9, packet1.value10, packet1.value11,
                                         packet1.value12, packet1.value13, packet1.value14,
                                         packet1.value15, packet1.value16, packet1.value17,
                                         packet1.value18, packet1.value19, packet1.value20);
    mavlink_msg_aq_telemetry_f_decode(&msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_to_send_buffer(buffer, &msg);
    for (i = 0; i < mavlink_msg_get_send_buffer_length(&msg); i++) {
        comm_send_ch(MAVLINK_COMM_0, buffer[i]);
    }
    mavlink_msg_aq_telemetry_f_decode(last_msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_aq_telemetry_f_send(MAVLINK_COMM_1, packet1.Index, packet1.value1, packet1.value2,
                                    packet1.value3, packet1.value4, packet1.value5, packet1.value6,
                                    packet1.value7, packet1.value8, packet1.value9, packet1.value10,
                                    packet1.value11, packet1.value12, packet1.value13,
                                    packet1.value14, packet1.value15, packet1.value16,
                                    packet1.value17, packet1.value18, packet1.value19,
                                    packet1.value20);
    mavlink_msg_aq_telemetry_f_decode(last_msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_aq_esc_telemetry(uint8_t system_id, uint8_t component_id,
                                          mavlink_message_t *last_msg) {
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_AQ_ESC_TELEMETRY >= 256) {
            return;
        }
#endif
    mavlink_message_t msg;
    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
    uint16_t i;
    mavlink_aq_esc_telemetry_t packet_in = {
            963497464, {963497672, 963497673, 963497674, 963497675},
            {963498504, 963498505, 963498506, 963498507}, {19107, 19108, 19109, 19110}, 137, 204,
            15, {82, 83, 84, 85}, {94, 95, 96, 97}
    };
    mavlink_aq_esc_telemetry_t packet1, packet2;
    memset(&packet1, 0, sizeof(packet1));
    packet1.time_boot_ms = packet_in.time_boot_ms;
    packet1.seq = packet_in.seq;
    packet1.num_motors = packet_in.num_motors;
    packet1.num_in_seq = packet_in.num_in_seq;

    mav_array_memcpy(packet1.data0, packet_in.data0, sizeof(uint32_t) * 4);
    mav_array_memcpy(packet1.data1, packet_in.data1, sizeof(uint32_t) * 4);
    mav_array_memcpy(packet1.status_age, packet_in.status_age, sizeof(uint16_t) * 4);
    mav_array_memcpy(packet1.escid, packet_in.escid, sizeof(uint8_t) * 4);
    mav_array_memcpy(packet1.data_version, packet_in.data_version, sizeof(uint8_t) * 4);

#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
       // cope with extensions
       memset(MAVLINK_MSG_ID_AQ_ESC_TELEMETRY_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_AQ_ESC_TELEMETRY_MIN_LEN);
    }
#endif
    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_aq_esc_telemetry_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_aq_esc_telemetry_decode(&msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_aq_esc_telemetry_pack(system_id, component_id, &msg, packet1.time_boot_ms,
                                      packet1.seq, packet1.num_motors, packet1.num_in_seq,
                                      packet1.escid, packet1.status_age, packet1.data_version,
                                      packet1.data0, packet1.data1);
    mavlink_msg_aq_esc_telemetry_decode(&msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_aq_esc_telemetry_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg,
                                           packet1.time_boot_ms, packet1.seq, packet1.num_motors,
                                           packet1.num_in_seq, packet1.escid, packet1.status_age,
                                           packet1.data_version, packet1.data0, packet1.data1);
    mavlink_msg_aq_esc_telemetry_decode(&msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_to_send_buffer(buffer, &msg);
    for (i = 0; i < mavlink_msg_get_send_buffer_length(&msg); i++) {
        comm_send_ch(MAVLINK_COMM_0, buffer[i]);
    }
    mavlink_msg_aq_esc_telemetry_decode(last_msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

    memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_aq_esc_telemetry_send(MAVLINK_COMM_1, packet1.time_boot_ms, packet1.seq,
                                      packet1.num_motors, packet1.num_in_seq, packet1.escid,
                                      packet1.status_age, packet1.data_version, packet1.data0,
                                      packet1.data1);
    mavlink_msg_aq_esc_telemetry_decode(last_msg, &packet2);
    MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void
mavlink_test_autoquad(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) {
    mavlink_test_aq_telemetry_f(system_id, component_id, last_msg);
    mavlink_test_aq_esc_telemetry(system_id, component_id, last_msg);
}

#ifdef __cplusplus
}
#endif // __cplusplus
#endif // AUTOQUAD_TESTSUITE_H
